Control device of apparatus, control method of apparatus and program

Abstract

To generate pseudo emotion properly.SOLUTION: A control device 100 of an apparatus includes an emotion setting part 113 for setting an emotion parameter for showing pseudo emotion according to external stimulation working on the apparatus, and an emotional change part 115 for changing the set emotion parameter, when external stimulation is not detected in a previously determined period, in the case where the pseudo emotion is close to a prescribed state.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a device control apparatus, a device control method, and a program. [Background technology]

[0002] Devices have been developed that control the operation of devices such as robots so that they resemble familiar beings such as friends or pets. Techniques for giving such devices pseudo-emotions are also known. For example, Patent Document 1 describes a device control device that sets emotion parameters that represent pseudo-emotions of the device in response to external stimuli acting on the device, and controls the operation of the device in response to the set emotion parameters. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-069767 Summary of the Invention [Problem to be solved by the invention]

[0004] In the technology described in Patent Document 1, when an external stimulus acts, a pseudo-emotion is generated based on the content of the external stimulus, and an action based on the generated pseudo-emotion is executed. On the other hand, in the technology described in Patent Document 1, there was a concern that if the action based on the pseudo-emotion continues without changing for a predetermined period of time or more, it may seem unnatural to the user.

[0005] The present invention has been made in consideration of the above-mentioned circumstances, and has an object to appropriately generate simulated emotions. [Means for solving the problem]

[0006] In order to achieve the above object, one aspect of the device control device according to the present invention comprises: an emotion setting unit that sets emotion parameters that represent simulated emotions in response to an external stimulus acting on the device; an emotion change unit that changes the set emotion parameter when the simulated emotion is close to a predetermined state and the external stimulus is not detected within a predetermined period of time; Equipped with. Effect of the Invention

[0007] According to the present invention, it is possible to appropriately generate simulated emotions. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram showing an external appearance of a robot according to an embodiment. [Diagram 2] 1 is a cross-sectional view of a robot according to an embodiment, as viewed from the side. [Diagram 3] FIG. 2 is a diagram illustrating a housing of a robot according to an embodiment. [Figure 4] 1 is a block diagram showing a functional configuration of a robot according to an embodiment. [Diagram 5] FIG. 2 is a diagram illustrating an example of an emotion map according to the embodiment. [Figure 6] FIG. 13 is a diagram illustrating an example of a personality value radar chart according to the embodiment. [Figure 7] FIG. 11 is a diagram illustrating an example of a control content table according to the embodiment. [Figure 8] FIG. 13 is a diagram illustrating an example of a change amount table according to the embodiment. [Figure 9] 10 is a flowchart showing a flow of a robot control process according to the embodiment. [Figure 10] 13 is a flowchart showing a flow of emotion change processing according to the embodiment. [Figure 11] 11A to 11C are diagrams showing examples of emotion data changed by emotion change processing according to the embodiment; [Figure 12A] FIG. 13 is a diagram illustrating an example of a change amount table according to a modified example. [Figure 12B]FIG. 13 is a diagram illustrating an example of a change amount table according to a modified example. [Figure 12C] FIG. 13 is a diagram illustrating an example of a change amount table according to a modified example. [Figure 13] FIG. 13 is a block diagram showing the functional configuration of a device control device and a robot according to a modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals.

[0010] (Embodiment) An embodiment in which the device control device according to the embodiment is applied to a robot 200 shown in Fig. 1 will be described with reference to the drawings. The robot 200 according to the embodiment is a pet robot modeled after a small animal. As shown in Fig. 1, the robot 200 is covered with an exterior 201 equipped with decorative parts 202 modeled after eyes and bushy fur 203. A housing 207 of the robot 200 is housed inside the exterior 201. As shown in Fig. 2, the housing 207 of the robot 200 is composed of a head 204, a connecting part 205, and a body part 206, and the head 204 and the body part 206 are connected by the connecting part 205.

[0011] As shown in Fig. 2, the body 206 extends in the front-rear direction. The body 206 comes into contact with a support surface, such as a floor or a table, on which the robot 200 is placed, via the exterior 201. As shown in Fig. 2, a twist motor 221 is provided at the front end of the body 206, and the head 204 is connected to the front end of the body 206 via a connecting part 205. The connecting part 205 is provided with an up-down motor 222. Although the twist motor 221 is provided in the body 206 in Fig. 2, it may be provided in the connecting part 205 or in the head 204.

[0012] The connecting portion 205 connects the body portion 206 and the head portion 204 to be rotatable (by the twist motor 221) about a first rotation axis that passes through the connecting portion 205 and extends in the front-rear direction of the body portion 206. The twist motor 221 rotates the head portion 204 clockwise (rightward) about the first rotation axis within a forward rotation angle range, and rotates the head portion 204 counterclockwise (leftward) within a reverse rotation angle range, relative to the body portion 206. Note that the clockwise direction in this description refers to the clockwise direction when looking from the body portion 206 toward the head portion 204. Also, the clockwise rotation is also referred to as a "twist rotation to the right" and the counterclockwise rotation is also referred to as a "twist rotation to the left." The maximum angle of twist rotation to the right (clockwise) or left (counterclockwise) is arbitrary, but as shown in FIG. 3, the angle of head 204 when head 204 is not twisted to the right or left is referred to as the twist reference angle.

[0013] Furthermore, the connecting part 205 connects the body part 206 and the head part 204 so as to be rotatable (by the up-down motor 222) about a second rotation axis that passes through the connecting part 205 and extends in the width direction of the body part 206. The up-down motor 222 rotates the head part 204 upward within a forward rotation angle range (forward rotation) and rotates it downward within a reverse rotation angle range (reverse rotation) about the second rotation axis. The maximum angle of upward or downward rotation is arbitrary, but as shown in FIG. 3, the angle of the head part 204 when it is not rotated upward or downward is referred to as the up-down reference angle.

[0014] When the head 204 rotates up and down about the second rotation axis to the up-down reference angle or above the up-down reference angle, the head 204 can come into contact with a support surface such as a floor or a table on which the robot 200 is placed, via the exterior 201. Note that, although an example in which the first rotation axis and the second rotation axis are perpendicular to each other is shown in Fig. 2, the first and second rotation axes do not have to be perpendicular to each other.

[0015] 2, the robot 200 is provided with a touch sensor 211 on the head 204, and the touch sensor 211 can detect when the user strokes or hits the head 204. The body 206 is also provided with a touch sensor 211, and the touch sensor 211 can detect when the user strokes or hits the body 206.

[0016] The robot 200 also includes an acceleration sensor 212 on the torso 206, which can detect the posture (direction) of the robot 200 and detect whether the robot 200 has been lifted up, turned around, or thrown by a user. The robot 200 also includes a gyro sensor 213 on the torso 206, which can detect whether the robot 200 is rolling or rotating.

[0017] The robot 200 also includes a microphone 214 on the body 206 and can detect external sounds. The robot 200 also includes a speaker 215 on the body 206 and can emit sounds (sound effects) made by the robot 200.

[0018] The robot 200 also includes a power receiving unit 251 on the bottom surface of the torso 206. The robot 200 is driven by a rechargeable battery 252 included inside the housing 207, and receives power transmitted from a wireless charger at the power receiving unit 251 to charge the battery 252. The wireless charger is modeled after, for example, a pet cage (house), and includes a sheet-like power supply placement surface. When the robot 200 is placed on the power supply placement surface of the wireless charger, charging of the battery 252 begins.

[0019] In this embodiment, the acceleration sensor 212, the gyro sensor 213, the microphone 214, and the speaker 215 are provided in the body 206, but all or some of these may be provided in the head 204. In addition to the acceleration sensor 212, the gyro sensor 213, the microphone 214, and the speaker 215 provided in the body 206, all or some of these may also be provided in the head 204. In addition, the touch sensor 211 is provided in each of the head 204 and the body 206, but it may be provided in only one of the head 204 or the body 206. Furthermore, a plurality of each of these may be provided.

[0020] Next, the functional configuration of the robot 200 will be described. As shown in FIG. 4, the robot 200 includes an equipment control device 100, an external stimulus detection unit 210, a driving unit 220, a sound output unit 230, an operation input unit 240, and a power supply control unit 250. The equipment control device 100 includes a control unit 110 and a storage unit 120. In FIG. 4, the equipment control device 100, the external stimulus detection unit 210, the driving unit 220, the sound output unit 230, the operation input unit 240, and the power supply control unit 250 are connected via a bus line BL, but this is an example. The equipment control device 100, the external stimulus detection unit 210, the driving unit 220, the sound output unit 230, the operation input unit 240, and the power supply control unit 250 may be connected via a wired interface such as a Universal Serial Bus (USB) cable, or a wireless interface such as Bluetooth (registered trademark). The control unit 110 and the storage unit 120 may be connected via a bus line BL.

[0021] The device control device 100 controls the operation of the robot 200 via the control unit 110 and the storage unit 120 .

[0022] The control unit 110 is composed of, for example, a CPU (Central Processing Unit) and executes various processes (robot control process, emotion change process, etc.) described later using programs stored in the storage unit 120. Note that the control unit 110 supports a multi-thread function that executes multiple processes in parallel, and is therefore capable of executing various processes (robot control process, emotion change process, etc.) described later in parallel. The control unit 110 also has a clock function and a timer function, and is capable of measuring the date and time, etc.

[0023] Moreover, control section 110 includes, as functional components according to the present invention, a change amount learning section 111, a change amount acquisition section 112, an emotion setting section 113, an action control section 114, and an emotion change section 115.

[0024] The change amount learning unit 111 learns and stores emotion change parameters (emotion change data 122 described later), which are parameters for changing the simulated emotions of the robot 200, in response to the external stimuli detected by the external stimulus detection unit 210. Specifically, the change amount learning unit 111 increases or decreases the emotion change data 122 in response to the external stimuli by a robot control process described later.

[0025] The change amount acquisition section 112 acquires the emotion change parameters (emotion change data 122) learned by the change amount learning section 111 in response to the detected external stimulus. The change amount acquisition section 112 will be described in detail later.

[0026] The emotion setting unit 113 sets emotion parameters (emotion data 121 described later) that represent simulated emotions of the robot 200, according to the emotion change parameters (emotion change data 122) acquired by the change amount acquisition unit 112. The emotion setting unit 113 will be described in detail later.

[0027] The movement control unit 114 controls the movement of the robot 200 in response to the external stimulus detected by the external stimulus detection unit. The movement control unit 114 will be described in detail later.

[0028] The emotion change unit 115 executes an emotion change process, which will be described later, to gradually change the simulated emotion of the robot when an external stimulus acting on the robot 200 is not detected within a predetermined period of time. The emotion change unit 115 will be described in detail later.

[0029] The storage unit 120 is composed of a ROM (Read Only Memory), a flash memory, a RAM (Random Access Memory), etc. The ROM stores programs executed by the CPU of the control unit 110 and data required in advance for executing the programs. The flash memory is a writable non-volatile memory, and stores data that should be retained even after the power is turned off. The RAM stores data that is created or changed during program execution.

[0030] The external stimulus detection section 210 includes the above-mentioned touch sensor 211, acceleration sensor 212, gyro sensor 213, and microphone 214. The control section 110 acquires detection values ​​detected by the various sensors included in the external stimulus detection section 210 as external stimulus data representing the external stimulus acting on the robot 200. Note that the external stimulus detection section 210 may include sensors other than the touch sensor 211, acceleration sensor 212, gyro sensor 213, and microphone 214. By increasing the types of sensors included in the external stimulus detection section 210, it is possible to increase the types of external stimuli that the control section 110 can acquire.

[0031] The touch sensor 211 detects that some object has come into contact with it. The touch sensor 211 is composed of, for example, a pressure sensor or a capacitance sensor. The detection value detected by the touch sensor 211 indicates the strength of the contact. The touch sensor 211 is capable of directional contact detection, and detects the strength of contact in three axial directions consisting of contact from the front-back direction (X-axis direction), contact from the width (left-right) direction (Y-axis direction), and contact from the up-down direction (Z-axis direction) of the body part 206 of the robot 200. Thus, the detection value of the touch sensor 211 is three-dimensional data consisting of the values ​​of the strength of contact from the X-axis direction, the Y-axis direction, and the Z-axis direction. Based on the detection value from the touch sensor 211, the control unit 110 can detect whether the robot 200 is being stroked or hit by the user.

[0032] The acceleration sensor 212 detects the acceleration of the body 206 of the robot 200 in three axial directions consisting of the front-rear direction (X-axis direction), width (left-right) direction (Y-axis direction), and up-down direction (Z-axis direction). Thus, the acceleration value detected by the acceleration sensor 212 is three-dimensional data consisting of the acceleration values ​​in the X-axis direction, the Y-axis direction, and the Z-axis direction. Since the acceleration sensor 212 detects the gravitational acceleration when the robot 200 is stationary, the control unit 110 can detect the current posture of the robot 200 based on the gravitational acceleration detected by the acceleration sensor 212. Also, for example, when the user lifts or throws the robot 200, the acceleration sensor 212 detects the acceleration accompanying the movement of the robot 200 in addition to the gravitational acceleration. Thus, the control unit 110 can detect the movement of the robot 200 by removing the gravitational acceleration component from the detection value detected by the acceleration sensor 212.

[0033] The gyro sensor 213 detects the angular velocity when a rotation is applied to the body of the robot 200. Specifically, the gyro sensor 213 detects the angular velocity of three-axis rotation consisting of rotation about the axis in the front-back direction (X-axis direction) of the body 206, rotation about the axis in the width (left-right) direction (Y-axis direction), and rotation about the axis in the up-down direction (Z-axis direction). Therefore, the value of the angular velocity detected by the gyro sensor 213 is three-dimensional data consisting of the values ​​of the angular velocity of the X-axis rotation, the angular velocity of the Y-axis rotation, and the angular velocity of the Z-axis rotation. The control unit 110 can detect the movement of the robot 200 with higher accuracy by combining the detection value detected by the acceleration sensor 212 and the detection value detected by the gyro sensor 213.

[0034] The touch sensor 211, acceleration sensor 212, and gyro sensor 213 are synchronized, detect the strength of contact, acceleration, and angular velocity at the same timing, and output the detection values ​​to the control unit 110. Specifically, the touch sensor 211, acceleration sensor 212, and gyro sensor 213 detect the strength of contact, acceleration, and angular velocity at the same timing, for example, every 0.25 seconds.

[0035] The microphone 214 detects sounds around the robot 200. Based on the components of the sound detected by the microphone 214, the control unit 110 can detect, for example, whether the user is calling out to the robot 200 or clapping his hands.

[0036] The driving unit 220 includes a twist motor 221 and an up-down motor 222. The driving unit 220 is driven by the control unit 110. As a result, the robot 200 can express motions such as lifting the head 204 (rotating it upward around the second rotation axis) or twisting it sideways (twisting and rotating it to the right or left around the first rotation axis). Motion data for driving the driving unit 220 to express these motions is recorded in a control content table 123 described later.

[0037] The sound output unit 230 includes a speaker 215, and when the control unit 110 inputs sound data to the sound output unit 230, sound is output from the speaker 215. For example, when the control unit 110 inputs data of the cry of the robot 200 to the sound output unit 230, the robot 200 emits a pseudo cry. This cry data is also recorded in the control content table 123 as sound effect data.

[0038] The operation input unit 240 is configured with, for example, an operation button, a volume knob, etc. The operation input unit 240 is an interface for receiving user operations such as turning on / off the power supply, adjusting the volume of the output sound, etc.

[0039] The power supply control unit 250 includes a sub-microcomputer, a charging IC (Integrated Circuit), a power supply control IC, a power receiving unit 251, etc., and charges the battery 252 of the robot 200, obtains the remaining charge of the battery 252, and controls the power supply of the robot 200.

[0040] Next, among the data stored in the memory unit 120 of the device control device 100, the following data that are characteristic of this embodiment will be described in order: emotion data 121, emotion change data 122, control content table 123, left-alone time data 124, and change amount table 125.

[0041] The emotion data 121 is data for making the robot 200 have a pseudo emotion, and is data (X, Y) indicating coordinates on the emotion map 300. As shown in FIG. 5, the emotion map 300 is expressed in a two-dimensional coordinate system with the X axis representing the degree of security (anxiety) and the Y axis representing the degree of excitement (apathy). The origin (0, 0) on the emotion map represents a normal emotion. The normal emotion here means a neutral emotion at the time of the initial startup of the robot 200 after being shipped from the factory. The positive X coordinate value (X value) on the emotion map 300 indicates a higher degree of security, and the positive Y coordinate value (Y value) indicates a higher absolute value of excitement. The negative X value indicates a higher absolute value of anxiety, and the negative Y value indicates a higher absolute value of apathy.

[0042] The emotion data 121 has two values, an X value (level of relief, level of anxiety) and a Y value (level of excitement, level of lethargy) that represent a plurality of different pseudo emotions (four in this embodiment), and a point on the emotion map 300 represented by the X value and the Y value represents the pseudo emotion of the robot 200. The initial value of the emotion data 121 is (0,0). The emotion data 121 is also called an emotion parameter because it is a parameter that represents the pseudo emotion of the robot 200. Note that, although the emotion map 300 is represented in a two-dimensional coordinate system in FIG. 5, the number of dimensions of the emotion map 300 is arbitrary. The emotion map 300 may be defined in one dimension, and one value may be set as the emotion data 121. In addition, the emotion map 300 may be defined in a coordinate system of three or more dimensions by adding other axes, and a value equal to the number of dimensions of the emotion map 300 may be set as the emotion data 121.

[0043] In this embodiment, the size of emotion map 300 is such that the maximum value of both the X and Y values ​​is 200 and the minimum value is -200, as shown in frame 301 in Fig. 5. The X and Y values ​​of emotion data 121 cannot be set outside frame 301.

[0044] Returning to Fig. 4, the emotion change data 122 is data that sets the amount of change by which each of the X value and Y value of the emotion data 121 is increased or decreased. In this embodiment, the emotion change data 122 corresponding to the X of the emotion data 121 includes DXP that increases the X value and DXM that decreases the X value, and the emotion change data 122 corresponding to the Y value of the emotion data 121 includes DYP that increases the Y value and DYM that decreases the Y value. That is, the emotion change data 122 consists of the following four variables. These variables are parameters that change the simulated emotions of the robot 200, and are therefore also called emotion change parameters. DXP: Ease of feeling at ease (the tendency for the X value on the emotion map to change in a positive direction) DXM: Tendency to become anxious (the tendency for the X value on the emotion map to change in the negative direction) DYP: Excitability (the tendency for the Y value on the emotion map to change in the positive direction) DYM: Tendency to become apathetic (the tendency for the Y value on the emotion map to change in the negative direction)

[0045] In this embodiment, as an example, the initial values ​​of these variables are all set to 10, and are increased to a maximum of 20 by a process of learning emotion change data during the robot control process described below. This learning process changes the emotion change data 122, i.e., the degree of emotion change, so that the robot 200 has various personalities depending on how the user interacts with the robot 200. In other words, the personality of the robot 200 is formed differently for each individual depending on how the user interacts with the robot.

[0046] Therefore, in this embodiment, each personality data (personality value) is derived by subtracting 10 from each emotion change data 122. That is, the personality value (cheerful) is obtained by subtracting 10 from DXP indicating ease of mind, the personality value (shy) is obtained by subtracting 10 from DXM indicating ease of anxiety, the personality value (active) is obtained by subtracting 10 from DYP indicating ease of excitement, and the personality value (spoiled) is obtained by subtracting 10 from DYM indicating ease of lethargy. As a result, for example, as shown in FIG. 6, the personality value (cheerful) is plotted on axis 411, the personality value (active) on axis 412, the personality value (shy) on axis 413, and the personality value (spoiled) on axis 414, so that a personality value radar chart 400 can be generated. In this way, the value of the emotion change parameter (emotion change data 122) can be said to represent the pseudo personality of the robot 200.

[0047] 7, the control content table 123 stores control conditions and control data in correspondence with each other. When a control condition (e.g., some external stimulus is detected) is satisfied, the control unit 110 controls the driving unit 220 and the sound output unit 230 based on the corresponding control data (motion data for expressing an action by the driving unit 220 and sound effect data for outputting sound effects from the sound output unit 230).

[0048] 7, the motion data is a series of sequence data (in the order of "time (milliseconds): rotation angle (degrees) of up / down motor 222: rotation angle (degrees) of twist motor 221") that controls drive unit 220. For example, when the body is stroked, control unit 110 controls drive unit 220 in such a way that the rotation angles of up / down motor 222 and twist motor 221 are initially set to 0 degrees (up / down reference angle and twist reference angle) (up / down reference angle and twist reference angle) at the beginning (0 seconds), head 204 is raised so that the rotation angle of up / down motor 222 is 60 degrees at 0.5 seconds, and head 204 is twisted so that the rotation angle of twist motor 221 is 60 degrees at 1 second.

[0049] 7, sentences explaining each sound effect data are written for easy understanding, but in reality, the sound effect data itself (sampled sound data) explained in these sentences is stored as the sound effect data in the control content table 123. A value indicating the ending position (e.g., "ending: 30%") is also stored in the sound effect data. This value indicates the ending position from the beginning of the entire length of the sound effect data as a percentage, and is used when changing the tone of the sound effect (changing the ending frequency) in the control data change playback process described later.

[0050] In the control content table 123 shown in FIG. 7, the control conditions do not include conditions related to emotions (represented by coordinates on emotion map 300). However, by including conditions related to emotions in the control conditions, the control data may be changed according to emotions.

[0051] 4, the left-alone time data 124 is data indicating the time the robot has been left alone (left-alone time). In this embodiment, the time during which no external stimulus acting on the robot is detected is measured as the left-alone time, and when an external stimulus is detected, the left-alone time is reset to 0.

[0052] In the change amount table 125, as shown in Fig. 8, the left-alone time condition and the emotion change amount are stored in correspondence with each other. The emotion change amount here corresponds to a distance on the emotion map 300. When the left-alone time of the robot 200 satisfies the left-alone time condition, the control unit 110 (emotion change unit 115) changes the emotion data according to the corresponding emotion change amount. Specifically, the control unit 110 changes the coordinates (X, Y) on the emotion map 300 indicated by the emotion data 121 in a specific direction by the distance indicated by the corresponding emotion change amount. As shown in Fig. 8, the values ​​in the change amount table 125 are set so that the emotion change amount increases as the left-alone time becomes longer.

[0053] Next, the robot control process executed by the control unit 110 of the device control device 100 will be described with reference to the flowchart shown in Fig. 9. The robot control process is a process in which the device control device 100 controls the movement and cry of the robot 200 based on the detection values ​​from the external stimulus detection unit 210, etc. When the user turns on the power of the robot 200, the robot control process starts.

[0054] First, the control unit 110 initializes various data such as the emotion data 121, emotion change data 122, etc. (step S101). Note that, from the second time onwards when the robot 200 is started up, each value at the time when the power of the robot 200 was last turned off may be set in step S101. This can be realized by the control unit 110 saving the value of each data in the non-volatile memory (flash memory, etc.) of the storage unit 120 when the power was last turned off, and then setting the saved value as the value of each data when the power is turned on.

[0055] Next, the control unit 110 starts measuring the left-standing time by using a clock function (step S102). The left-standing time is continuously measured until the left-standing time is reset in step S109 described later.

[0056] Next, the control unit 110 acquires a detection value detected by the external stimulus detection unit 210 (step S103). Then, the control unit 110 determines whether or not an external stimulus has been present based on the acquired detection value (step S104).

[0057] If an external stimulus is present (step S104; Yes), the control unit 110 (change amount acquisition unit 112) acquires emotion change data 122 according to the detection value of the external stimulus acquired in step S103 (step S105). Specifically, for example, when the touch sensor 211 of the head 204 detects that the head 204 has been stroked as an external stimulus, the robot 200 feels a pseudo sense of security, and therefore the control unit 110 acquires DXP as emotion change data 122 to be added to the X value of the emotion data 121.

[0058] Then, control unit 110 (emotion setting unit 113) sets emotion data 121 according to emotion change data 122 acquired in step S105 (step S106). Specifically, for example, if DXP was acquired as emotion change data 122 in step S104, control unit 110 adds DXP of emotion change data 122 to the X value of emotion data 121.

[0059] In steps S105 and S106, it is possible to arbitrarily set what emotion change data 122 is acquired and what emotion data 121 is set for each external stimulus, but here, an example is shown below.

[0060] Head 204 is stroked (feels safe): X=X+DXP Hit on the head 204 (feels anxious): X=X-DXM (These external stimuli can be detected by the touch sensor 211 on the head 204.) The torso 206 is stroked (excited): Y=Y+DYP Hitting the torso 206 (becoming lethargic): Y=Y-DYM (These external stimuli can be detected by the touch sensor 211 on the torso 206.) Being held with head up (happy): X=X+DXP, and Y=Y+DYP Hanging head down (sad): X=X-DXM, and Y=Y-DYM (These external stimuli can be detected by the touch sensor 211, the acceleration sensor 212, and the gyro sensor 213.) A gentle voice calls out to you (becomes peaceful): X=X+DXP, and Y=Y-DYM Being yelled at loudly (irritated): X=X-DXM and Y=Y+DYP (These external stimuli can be detected by microphone 214.)

[0061] However, if adding emotion change data 122 causes the value (X value, Y value) of emotion data 121 to exceed the maximum value of emotion map 300, the value of emotion data 121 is set to the maximum value of emotion map 300. On the other hand, if subtracting emotion change data 122 causes the value of emotion data 121 to be less than the minimum value of emotion map 300, the value of emotion data 121 is set to the minimum value of emotion map 300.

[0062] Next, the control unit 110 (the operation control unit 114) refers to the control content table 123 and acquires control data corresponding to the control condition that is satisfied by the acquired detection value of the external stimulus (step S107).

[0063] Then, control unit 110 (operation control unit 114) plays back the control data acquired in step S107 (step S108). Note that control unit 110 may adjust (change) the content of the control data to be played back based on emotion data 121.

[0064] Next, the control unit 110 resets the left-standing time to 0 (step S109), and starts measuring the left-standing time (step S110), and then proceeds to step S113.

[0065] On the other hand, if there is no external stimulus in step S104 (step S104; No), the control unit 110 judges whether or not to perform a spontaneous movement (such as a breathing mimicking movement that mimics the breathing of a living organism) (step S111). While any method can be used to judge whether or not to perform a spontaneous movement, in this embodiment, the judgment in step S111 becomes Yes every breathing cycle (for example, every 2 seconds) and a breathing mimicking movement is performed.

[0066] If the voluntary movement is not to be performed (step S111; No), the control unit 110 proceeds to step S113. If the voluntary movement is to be performed (step S111; Yes), the control unit 110 executes the voluntary movement (e.g., breathing) as the voluntary movement (step S112), and proceeds to step S113.

[0067] The control data of this spontaneous movement is also stored in the control content table 123 (for example, as shown in “a breathing cycle has elapsed” of “control condition” in FIG. 7). Note that the control content of the spontaneous movement may be adjusted (changed) based on the emotion data 121.

[0068] In step S113, control unit 110 determines whether or not the date has changed by the clock function. If the date has not changed (step S113; No), control unit 110 returns to step S103.

[0069] If the date has changed (step S113; Yes), the control unit 110 (change amount learning unit 111) learns the emotion change data 122 (step S114) and returns to step S103. Specifically, learning the emotion change data 122 is a process of updating the emotion change data 122 by adding 1 to the DXP of the emotion change data 122 if the X value of the emotion data 121 has been set to the maximum value of the emotion map 300 even once in step S106 of that day, adding 1 to the DYP of the emotion change data 122 if the Y value of the emotion data 121 has been set to the maximum value of the emotion map 300 even once, adding 1 to the DXM of the emotion change data 122 if the X value of the emotion data 121 has been set to the minimum value of the emotion map 300 even once, and adding 1 to the DYM of the emotion change data 122 if the Y value of the emotion data 121 has been set to the minimum value of the emotion map 300 even once.

[0070] However, if each value of the emotion change data 122 becomes too large, the amount of change in one time of the emotion data 121 becomes too large, so each value of the emotion change data 122 is limited to a maximum value of, for example, 20 or less. Also, although 1 is added to each piece of emotion change data 122 here, the value added is not limited to 1. For example, the number of times each value of the emotion data 121 is set to the maximum or minimum value of the emotion map 300 may be counted, and if this number is large, the value added to the emotion change data 122 may be increased.

[0071] Next, the emotion change processing executed by the control unit 110 (emotion change unit 115) of the device control device 100 will be described with reference to the flowchart shown in Fig. 10. The emotion change processing is a processing executed in parallel with the above-mentioned robot control processing in a separate thread while the robot 200 is powered on. The emotion change processing automatically changes the emotion data set in step S106 of the robot control processing according to the standing time.

[0072] First, the control unit 110 refers to the left-standing time data 124 to determine whether the current left-standing time is 10 minutes or more (step S201). If the left-standing time is less than 10 minutes (step S201; No), the control unit 110 waits without performing the following steps.

[0073] If the left-alone time is 10 minutes or more (step S201; Yes), the control unit 110 refers to the change amount table 125 shown in Fig. 8, and acquires the emotion change amount corresponding to the left-alone time condition satisfied by the current left-alone time (step S202). For example, if the left-alone time is 10 minutes, the emotion change amount acquired is "1".

[0074] 10, the control unit 110 then determines whether or not the value of the Y coordinate (Y value) on the emotion map 300 indicated by the emotion data 121 is positive (greater than 0) (step S203). The determination in step S203 corresponds to determining whether or not the robot 200 is in an excited state.

[0075] If the Y value of the emotion data is a positive value (step S203; Yes), that is, if the robot 200 is in an excited state, the control unit 110 changes the value (X, Y) on the emotion map 300 indicated by the emotion data 121 in the direction toward the origin (0, 0) by a distance according to the amount of emotion change acquired in step S202 (step S204), and the process proceeds to step S206. Through this process, the simulated emotion of the excited robot 200 changes to a neutral emotion, and the robot 200 appears to be in a calm state.

[0076] On the other hand, if the Y value of the emotion data 121 is not a positive value (step S203; No), the control unit 110 changes the Y value in a smaller direction (negative direction) by a distance according to the emotion change amount acquired in step S202 (step S205), and the process proceeds to step S206. Through this process, the simulated emotion of the robot 200 changes to lethargy, and the robot 200 appears to be in a calm state.

[0077] In step S206, the control unit 110 waits for 10 minutes, after which the process proceeds to step S201.

[0078] Next, an example will be given of the change in emotion data 121 due to the emotion change process described above. For example, as shown in Fig. 11, consider a case where 10 minutes have passed without any external stimuli acting on robot 200 with robot emotion data 121 set at the coordinates shown at point A (Xa, Ya). In this case, since Ya is a positive value, the process of step S204 is executed, and emotion data 121 changes to point B (Xb, Yb), which is located in the direction from point A toward the origin (0, 0) and is a distance 1 away from point A.

[0079] After that, if the robot is left for another 10 minutes (a total of 20 minutes), since Yb ​​is a positive value, the process of step S204 is executed again, and the emotion data changes to point C (Xc, Yc), which is in the direction from point B toward the origin (0, 0) and is a distance 3 away from point B. This means that the robot's simulated emotion gradually changes to the state it was in when it was first started.

[0080] Thereafter, each time 10 minutes have passed since the robot was left alone, emotion data 121 with a positive Y value moves toward the origin, and emotion data 121 moves to the origin of point D (Xd=0, Yd=0). If the robot is left alone for another 10 minutes from this state, Yd is not a positive value, so the process of step S205 is executed, and emotion data 121 moves from point D to point E (Xe=0, Ye) in the negative direction along the Y axis. Thereafter, each time 10 minutes pass without an external stimulus being detected, the Y value of emotion data 121 changes stepwise in the negative direction. This means that robot 200 loses its simulated emotion, and its appearance and actions change stepwise to become lethargic.

[0081] As described above, when no external stimulus is detected for a predetermined period of time, the device control device 100 according to this embodiment gradually changes the emotion data 121 (emotion parameters) representing the simulated emotion of the robot 200. That is, even when the user leaves the robot 200 alone, the simulated emotion of the robot 200 changes, enabling the robot 200 to express emotions more like a living creature, and enabling the simulated emotion to be appropriately generated.

[0082] In addition, when the excitement level (Y value) indicated by the emotion data 121 is a positive value, that is, when it is determined that the robot 200 tends to be excited (when the simulated emotion is close to a predetermined state), the device control device 100 of the present embodiment changes the emotion data 121 in a direction toward the origin on the emotion map 300, that is, to the emotion at the time of initial startup. In addition, when the excitement level (Y value) indicated by the emotion data 121 is not a positive value, that is, when it is determined that the robot 200 tends to be lethargic (when the simulated emotion is close to a predetermined state), the device control device 100 of the present embodiment changes the emotion data in a negative direction along the Y axis of the emotion map 300, that is, to become more lethargic. By making such a change, it becomes possible to express emotions such as gradually becoming calm and calm or becoming lethargic when left alone, and it becomes possible to provide a robot 200 that forms emotions similar to those of a real living thing or a pet.

[0083] Furthermore, in the device control device 100 according to this embodiment, the change amount table 125 (FIG. 8) is set so that the amount of emotion parameter that is changed in stages (emotion change amount) increases as the period (left-alone time) during which no external stimuli are detected becomes longer. This means that the emotion barely changes at the beginning of the left-alone state, but the emotion changes gradually as time passes, making it possible to realize more lifelike emotional expression.

[0084] (Modification) The present invention is not limited to the above-described embodiment, and various modifications and applications are possible. For example, in the above-described embodiment, the amount of emotion data to be changed in stages was determined using change amount table 125 shown in FIG. 8. That is, robot 200 was controlled so that emotion data 121 changes more greatly as the left-alone time increases. However, the way in which emotion data 121 is changed is not limited to this.

[0085] For example, the amount of emotion data 121 to be changed in stages may be changed based on the charge level of battery 252 of robot 200. In this case, instead of FIG. 8, change amount table 125 shown in FIG. 12A is stored in storage unit 120. Then, in step S202 of emotion change processing, control unit 110 may acquire the emotion change amount by referring to change amount table 125 shown in FIG. 12A. In change amount table 125 shown in FIG. 12A, the greater the charge level of battery 252, the greater the emotion change amount is set. This makes it possible to express a lifelike nature in which the more energetic the robot is (the greater the charge level), the greater the change in emotion.

[0086] For example, the amount of emotion data 121 to be changed stepwise may be changed based on the simulated personality of the robot represented by the emotion change data 122. In this case, for example, a change amount table 125 shown in FIG. 12B is stored in the storage unit 120 instead of FIG. 8. Then, in step S202 of the emotion change process, the control unit 110 may obtain the emotion change amount by referring to the change amount table 125 shown in FIG. 12B. It is possible to determine whether the personality of the robot 200 is cheerful, shy, active, or spoiled from the personality value radar chart 400 (FIG. 6) described above. In the change amount table 125 shown in FIG. 12B, the emotion change amount is set larger for the spoiled personality than for other personalities. This allows the emotion to change significantly immediately if the robot is left alone without any attention, making it possible to realize an emotion change that better reflects the spoiled personality.

[0087] For example, the amount of emotion data 121 to be changed in stages may be changed based on whether or not the robot 200 is charging the battery 252. In this case, for example, a change amount table 125 shown in Fig. 12C instead of Fig. 8 is stored in the storage unit 120. Then, in step S202 of the emotion change processing, the control unit 110 may acquire the amount of emotion change by referring to the change amount table 125 shown in Fig. 12C.

[0088] It is also possible to combine these above-mentioned conditions to determine the amount of stepwise change in emotion data 121. For example, in step S202 of the emotion change processing, control unit 110 may refer to each change amount table 125 shown in Fig. 8 and Figs. 12A-C, and calculate a total or average emotion change amount that matches each condition, and in step S204 or step S205 control unit 110 may change emotion data 121 by a distance equivalent to the calculated value.

[0089] Furthermore, in the above embodiment, when no external stimuli are detected within a predetermined period, emotion data 121 is changed in a direction toward the origin if the excitement level (Y value) indicated by emotion data 121 is a positive value, and in a negative direction along the Y axis if the excitement level (Y value) is not a positive value. However, the direction in which emotion data 121 is changed stepwise is not limited to this. For example, emotion data 121 may be changed stepwise in a direction in which the relief level (X value) becomes negative. Furthermore, emotion data 121 may be changed in a random direction every 10 minutes.

[0090] In the above embodiment, the robot 200 is configured to have the device control device 100 built in, but the device control device 100 does not have to be built in the robot 200. For example, as shown in FIG. 13, the device control device 100 according to a modified example may be configured as a separate device (e.g., a server) without being built in the robot 200. In this modified example, the device control device 100 includes a communication unit 130, and the robot 200 also includes a communication unit 260, and the communication units 130 and 260 are configured to be able to transmit and receive data to and from each other. The control unit 110 acquires the external stimulus detected by the external stimulus detection unit 210 via the communication units 130 and 260, and controls the drive unit 220 and the audio output unit 230 via the communication units 130 and 260.

[0091] In the above embodiment, the device control device 100 is a control device that controls the robot 200, but the device to be controlled is not limited to the robot 200. A wristwatch or the like can be considered as a device to be controlled. For example, if a wristwatch capable of outputting sound and equipped with an acceleration sensor and a gyro sensor is considered as a device to be controlled, an external stimulus can be an impact applied to the wristwatch detected by the acceleration sensor or the gyro sensor. Then, the emotion change data 122 and the emotion data 121 are updated in response to this external stimulus, and the sound effect data set in the control content table 123 is adjusted (changed) and output based on the emotion data 121 at the time when the user wears the wristwatch.

[0092] In this way, it is possible to make a wristwatch that emits a sad sound effect when the user puts it on if the wristwatch is handled roughly, and emits a happy sound effect when the user puts it on if the wristwatch is handled gently. Furthermore, by similarly executing emotion change processing on such a wristwatch, it is possible to change the simulated emotion when the user leaves it for a long period of time without using it.

[0093] In this way, the device control device 100 can be applied to various devices, not just robots, and can provide the devices with simulated emotions and personalities. Furthermore, by applying the device control device 100 to various devices, the user can feel as if they are nurturing the devices in a simulated manner.

[0094] In the above embodiment, the operation program executed by the CPU of the control unit 110 has been described as being stored in advance in the ROM or the like of the storage unit 120. However, the present invention is not limited to this, and the operation program for executing the above-mentioned various processes may be implemented in an existing general-purpose computer or the like, so as to function as a device equivalent to the device control device 100 according to the above-mentioned embodiment.

[0095] Such programs may be provided in any manner; for example, they may be stored on a computer-readable recording medium (such as a flexible disk, a CD (Compact Disc)-ROM, a DVD (Digital Versatile Disc)-ROM, an MO (Magneto-Optical Disc), a memory card, a USB memory, etc.) and distributed, or the programs may be stored in storage on a network such as the Internet and provided by downloading them.

[0096] Furthermore, when the above-mentioned processing is performed by sharing between an OS (Operating System) and an application program, or by cooperation between the OS and the application program, only the application program may be stored in a recording medium or storage. It is also possible to superimpose the program on a carrier wave and distribute it over a network. For example, the above-mentioned program may be posted on a bulletin board system (BBS) on a network and distributed over the network. The above-mentioned processing may be performed by starting up this program and executing it under the control of the OS in the same way as other application programs.

[0097] The present invention allows various embodiments and modifications without departing from the broad spirit and scope of the present invention. The above-described embodiments are for the purpose of explaining the present invention and do not limit the scope of the present invention. That is, the scope of the present invention is indicated by the claims, not the embodiments. Various modifications made within the scope of the claims and the scope of the invention equivalent thereto are considered to be within the scope of the present invention. [Explanation of symbols]

[0098] 100...device control device, 110...control unit, 120...storage unit, 121...emotion data, 122...emotion change data, 123...control content table, 124...left-standing time data, 125...change amount table, 130, 260...communication unit, 200...robot, 201...exterior, 202...decorative part, 203...fur, 204...head, 205...connection unit, 206...torso, 207...casing, 210...external piercing Intensity detection unit, 211...touch sensor, 212...acceleration sensor, 213...gyro sensor, 214...microphone, 215...speaker, 220...drive unit, 221...twist motor, 222...up and down motor, 230...audio output unit, 240...operation input unit, 300...emotion map, 301...frame, 400...personality value radar chart, 411, 412, 413, 414...axis, BL...bus line

Claims

1. Determine whether the simulated emotion of the device has a predetermined tendency, When it is determined that the simulated emotion has the predetermined tendency, the emotion parameter of the device is changed by an amount corresponding to the length of a period during which no external stimulus is detected so that the simulated emotion becomes closer to the predetermined emotion. A control device for equipment that has a control unit.

2. The control unit determines whether the pseudo-emotion has a tendency to be excited as the predetermined tendency, and when it is determined that the pseudo-emotion has a tendency to be excited and the external stimulus is not detected for a predetermined period of time, changes the set emotion parameter so that the pseudo-emotion becomes neutral. The device control device according to claim 1.

3. The emotion parameter corresponds to a position on an emotion map in which a positive direction relative to the origin indicates a degree of excitement and a negative direction relative to the origin indicates a degree of lethargy, the control unit determines whether the emotion parameter is within a positive range or a negative range on the emotion map, and when it is determined that the emotion parameter is within the positive range on the emotion map and the external stimulus is not detected for a predetermined period of time, changes the emotion parameter to approach the origin, and when it is determined that the emotion parameter is within the negative range on the emotion map and the external stimulus is not detected for a predetermined period of time, changes the emotion parameter to be more negative. The device control device according to claim 2.

4. the control unit changes the amount of the emotion parameter to be changed based on the simulated personality of the device. The device according to any one of claims 1 to 3.

5. the device comprises a battery; the control unit changes the amount of change in the emotion parameter in accordance with the amount of charge of the battery. The device according to any one of claims 1 to 3.

6. the device comprises a battery; the control unit changes the amount of change in the emotion parameter based on whether or not the battery is being charged. The device according to any one of claims 1 to 3.

7. The control unit of the control device Determine whether the simulated emotion of the device has a predetermined tendency; when it is determined that the pseudo-emotion has the predetermined tendency, changing the emotion parameter by an amount corresponding to the length of a period during which no external stimulus is detected so that the pseudo-emotion becomes closer to the predetermined emotion; How to control the device.

8. The control device's computer Determine whether the simulated emotion of the device has a predetermined tendency; when it is determined that the pseudo-emotion has the predetermined tendency, changing the emotion parameter by an amount corresponding to the length of a period during which no external stimulus is detected so that the pseudo-emotion becomes closer to the predetermined emotion; The program that performs the processing.

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